1 files changed, 1 insertions, 11 deletions
diff --git a/controller/fw/levmarq/levmarq.c b/controller/fw/levmarq/levmarq.c
index 4636c79..4a764db 100644
--- a/controller/fw/levmarq/levmarq.c
+++ b/controller/fw/levmarq/levmarq.c
@@ -17,8 +17,6 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <arm_math.h>
-
 #include "levmarq.h"
 #include "simulation.h"
 
@@ -29,21 +27,13 @@
 /* set parameters required by levmarq() to default values */
 void levmarq_init(LMstat *lmstat)
 {
-    lmstat->max_it = 500;
+    lmstat->max_it = 100;
     lmstat->init_lambda = 0.0001f;
     lmstat->up_factor = 10.0f;
     lmstat->down_factor = 10.0f;
     lmstat->target_derr = 1e-12f;
 }
 
-#ifndef SIMULATION
-float sqrtf(float arg) {
-    float out=NAN;
-    arm_sqrt_f32(arg, &out);
-    return out;
-}
-#endif
-
 /* perform least-squares minimization using the Levenberg-Marquardt
    algorithm.  The arguments are as follows: